建設ロボットの精度向上：高精度加速度計を用いたたわみ・バックラッシュ補償のためのモジュラーファクターグラフベースフレームワーク
Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers
長い運動連鎖を持つ建設ロボットの位置決め精度を高めるため、高精度加速度計とファクターグラフによるモジュラーな状態推定でたわみとバックラッシュを補償する手法を提案し、xy平面の95%誤差を半減させた。
著者: Julien Kindle, Michael Loetscher, Andrea Alessandretti, Cesar Cadena, Marco Hutter
分類: cs.RO
原文アブストラクト
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and ceilings. These requirements significantly impact positioning accuracy due to effects such as deflection and backlash in various parts along the kinematic chain. In this work, we introduce a novel approach that integrates deflection and backlash compensation models with high-accuracy accelerometers, significantly enhancing position accuracy. Our method employs a modular framework based on a factor graph formulation to estimate the state of the kinematic chain, leveraging acceleration measurements to inform the model. Extensive testing on publicly released datasets, reflecting real-world construction disturbances, demonstrates the advantages of our approach. The proposed method reduces the $95\%$ error threshold in the xy-plane by $50\%$ compared to the state-of-the-art Virtual Joint Method, and by $31\%$ when incorporating base tilt compensation.
